#ifndef _PID_PARA_H
#define _PID_PARA_H

#include "algorithm/pid.h"
#include "algorithm/pid_leso.h"
#include <string.h>

extern const steering_pid_struct_t steering_ang_pid_int_val;
extern const steering_pid_struct_t steering_rpm_pid_int_val;
extern const pid_struct_t wheels_pid_init_val;
extern const pid_struct_t chassis_vx_pid_init_val;
extern const pid_struct_t chassis_vy_pid_init_val;
extern const pid_struct_t chassis_wz_pid_init_val;

extern const pid_struct_t chassis_follow_pid_init_val;

extern const pid_struct_t yaw_pid_ang_loop;
extern const pid_struct_t yaw_pid_rpm_loop;
extern const pid_struct_t pitch_pid_ang_loop;
extern const pid_struct_t pitch_pid_rpm_loop;

extern const pid_struct_t yaw_imu_pid_ang_loop;
extern const pid_struct_t yaw_imu_pid_rpm_loop;
extern const pid_struct_t pitch_imu_pid_ang_loop;
extern const pid_struct_t pitch_imu_pid_rpm_loop;

extern const pid_struct_t shoot_fric_pid_init_val;
extern const pid_struct_t bullet_push_pid_init_val;

extern const pid_struct_t power_limit_pid_init_val;
extern const pid_struct_t power_cap_pid_init_val;
extern const pid_struct_t power_limit_pid_Nban_init_val;

extern const pid_struct_t switch_move_pid_init_val;
extern const pid_struct_t switch_stop_pid_ang_loop;
extern const pid_struct_t switch_stop_pid_rpm_loop;

#define INIT_PID_STRUCT(p,c) memcpy(&(p),&(c),sizeof(pid_struct_t));

#endif

